scanmatcher node-1 error after launch

[SyahirMuzni]

OS and Version: [Ubuntu 20.04]
ROS Version: [Galactic]

The goal:
To create a road map.

The issue:
Error when launched Lidarslam. The error --> [scanmatcher_node-1] [ERROR] [1663050603.996330287] [scan_matcher]: "odom" passed to lookupTransform argument target_frame does not exist.

Steps to reproduce the behavior:

• source /opt/ros/galactic/setup.bash
• ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py
  On a new tab, launching rviz2:
• rviz2
• Add, by topic pointcloud2
• Fixed frame, velodyne
  On a new tab, launching the lidarslam command:
• source install/setup.bash
• ros2 launch lidarslam lidarslam.launch.py

[rsasaki0109]

You are not using Odometry, are you?
If use_odom is set to true in the yaml you are using, you need to set it to false.

https://github.com/rsasaki0109/lidarslam_ros2/blob/foxy/lidarslam/param/lidarslam.yaml#L27

[SyahirMuzni]

Got it! Thank you very much!